https://github.com/stereolabs/zed-ros-examples
Examples for the ZED SDK ROS wrapper
https://github.com/stereolabs/zed-ros-examples
ros slam stereo-vision zed-camera
Last synced: 4 months ago
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Examples for the ZED SDK ROS wrapper
- Host: GitHub
- URL: https://github.com/stereolabs/zed-ros-examples
- Owner: stereolabs
- License: mit
- Created: 2020-01-27T14:48:11.000Z (over 6 years ago)
- Default Branch: master
- Last Pushed: 2024-07-16T08:43:53.000Z (almost 2 years ago)
- Last Synced: 2024-07-16T11:15:43.164Z (almost 2 years ago)
- Topics: ros, slam, stereo-vision, zed-camera
- Language: C++
- Homepage: https://www.stereolabs.com/docs/ros/
- Size: 8.76 MB
- Stars: 85
- Watchers: 6
- Forks: 51
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
ROS Noetic Ninjemis Tutorials and Examples
This package is a collection of examples and tutorials to illustrate how to better use the ZED cameras in the ROS framework
[More information](https://www.stereolabs.com/documentation/guides/using-zed-with-ros/introduction.html)
## Getting started
- First, be sure to have installed the main ROS package to integrate the ZED cameras in the ROS framework: [zed-ros-wrapper](https://github.com/stereolabs/zed-ros-wrapper/)
- [Install](#build-the-program) the Tutorials package
- Read the online documentation for [More information](https://www.stereolabs.com/documentation/guides/using-zed-with-ros/introduction.html)
### Prerequisites
- Ubuntu 20.04
- [ZED SDK **≥**](https://www.stereolabs.com/developers/) and its dependency [CUDA](https://developer.nvidia.com/cuda-downloads)
- [ROS Noetic](http://wiki.ros.org/noetic/Installation/Ubuntu)
### Build the program
The `zed-ros-examples` repository is a collection of catkin packages. They depend on the following ROS packages:
- catkin
- zed_wrapper
- sensor_msgs
- roscpp
- nav_msgs
- geometry_msgs
- ar_track_alvar
- ar_track_alvar_msgs
- nodelet
- depthimage_to_laserscan
- rtabmap
- rtabmap_ros
- rviz_imu_plugin
- rviz
- plotjuggler
Open a terminal, clone the repository, update the dependencies and build the packages:
$ cd ~/catkin_ws/src
$ git clone https://github.com/stereolabs/zed-ros-examples.git
$ cd ../
$ rosdep install --from-paths src --ignore-src -r -y
$ catkin_make -DCMAKE_BUILD_TYPE=Release
$ source ./devel/setup.bash
## Run the tutorials and examples
### Rviz visualization examples
- Example launch files to start a preconfigured instance of Rviz displaying all the ZED Wrapper node information: [zed_display_rviz](https://github.com/stereolabs/zed-ros-examples/tree/master/zed_display_rviz/README.md)
### Tutorials
- [Image subscription tutorial](https://github.com/stereolabs/zed-ros-examples/tree/master/tutorials/zed_video_sub_tutorial/README.md)
- [Depth subscription tutorial](https://github.com/stereolabs/zed-ros-examples/tree/master/tutorials/zed_depth_sub_tutorial/README.md)
- [Tracking subscription tutorial](https://github.com/stereolabs/zed-ros-examples/tree/master/tutorials/zed_tracking_sub_tutorial/README.md)
- [Sensors data subscription tutorial](https://github.com/stereolabs/zed-ros-examples/blob/master/tutorials/zed_sensors_sub_tutorial/README.md)
- [Object detection subscription tutorial](https://github.com/stereolabs/zed-ros-examples/blob/master/tutorials/zed_obj_det_sub_tutorial/README.md)
### Examples
- [AR Track Alvar example](https://github.com/stereolabs/zed-ros-examples/tree/master/examples/zed_ar_track_alvar_example/README.md)
- [Nodelet example (point cloud to laser scan)](https://github.com/stereolabs/zed-ros-examples/tree/master/examples/zed_nodelet_example/README.md)
- [RTABmap example](https://github.com/stereolabs/zed-ros-examples/tree/master/examples/zed_rtabmap_example/README.md)